Digitalizacija robotskog radnog prostora u simulacijskom softveru pomoću in-hand 3D kamere

undergraduate thesis

• Title (english): Digitization of the robotic workspace in a simulation software using an in-hand 3D camera
• Author: Antonio Piršić
• Mentor: Marko Švaco (mentor)
• Mentor: Filip Šuligoj (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03-02, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom završnom radu se integrira sustav za digitalizaciju radnog prostora robota primjenom
3D kamere. Korišteni su Universal Robots 5e robot i Intel Realsense D435i kamera. Sva
korištena oprema nalazi se u Regionalnom centru izvrsnosti za robotske tehnologije (CRTA) u
sklopu Fakulteta strojarstva i brodogradnje. Opisan je postupak izrade skripte za dohvaćanje
oblaka točaka predmeta kojeg kamera snima, te vizualizaciju tog oblaka unutar simulacijskog
softvera RoboDK. Riješen je problem kalibracije kamere i vrha alata. Koriste se matrice
homogene transformacije za potrebe transformacije i dovođenja u odnos kamere (samim tim i
oblaka točaka) i koordinatnog sustava baze robota. Naposljetku, kao zadatak koji robot izvršava
je dolazak vrha alata u kontakt s površinom snimljenog predmeta na naredbu provedenu iz
RoboDK softvera.

Abstract (english)

In this bachelor thesis, a system for digitizing the robot workspace using a 3D camera is
integrated. The Universal Robots 5e robot and the Intel Realsense D435i camera were used. All
the equipment used is located at the Regional Center of Excellence for Robotics Technologies
(CRTA) within the Faculty of Mechanical Engineering and Naval Architecture. It describes the
process of creating a script for retrieving the point cloud of the object captured by the camera,
and visualizing that cloud within the RoboDK simulation software. The problem of calibrating
the camera and tooltip was solved. Homogeneous transformation matrices are used for
transformation and bringing the camera (therefore the cloud of points) into relation with the
coordinate system of the robot base. Finally, the task of the robot is to bring the tip of the tool
in contact with the surface of the captured object in response to the command executed by the
RoboDK software.

• Keywords: robot; kamera; kalibracija; RoboDK; Universal Robots; oblak točaka; alat
• Keywords (english): robot; camera; calibration; RoboDK; Universal Robots; point cloud; tool
• Language: croatian
• URN:NBN: urn:nbn:hr:235:711001
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-02-23 08:07:06